Abstract
Walking gait is the first important element that affect the stability of a biped robot. A biped robot can’t complete any steps if the walking gait doesn’t satisfy the stable condition, even though the great controller is integrated on robot. So that, planning the stable walking gait is the most important thing that much be firstly done. The objective of this study is to propose a useful method to plan the stable walking trajectories that can apply for 3D biped robot UXA90-Light. Based on pros and cons analysis of some previous researches, proposed method is the combination of these studies. Particularly, the Hybrid Zero Dynamics with Poincaré map theory is applied to plan the exponential walking gait in the sagittal plane, the Zero Moment Point stability criterion with Preview control is used to generate the walking pattern in the frontal plane. The possibility of this combination is proven by some simulation results.
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UXA90-Light Multipurpose Humanoid Robot Platform, Robot builder
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Nguyen, T.D., Chu, B.L., Tran, T.P., Nguyen, T.T., Kim, S.B. (2017). Stable Walking Gait Planning for 3D Biped Robot with Feet Applied for UXA90-Light. In: Duy, V., Dao, T., Kim, S., Tien, N., Zelinka, I. (eds) AETA 2016: Recent Advances in Electrical Engineering and Related Sciences. AETA 2016. Lecture Notes in Electrical Engineering, vol 415. Springer, Cham. https://doi.org/10.1007/978-3-319-50904-4_69
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DOI: https://doi.org/10.1007/978-3-319-50904-4_69
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